version: 66.08
glider: 502
mission: 3
dive: 7
start: 11 22 110 17 7 24
data:
$ID,502
$MISSION,3
$DIVE,7
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,300
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,400
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,3
$SURFACE_URGENCY_FORCE,5
$T_DIVE,75
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.025
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51763
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,10
$TGT_DEFAULT_LAT,-7715
$TGT_DEFAULT_LON,16530
$TGT_AUTO_DEFAULT,0
$SM_CC,613.29712
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-6306.668
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,450
$PITCH_MAX,3944
$C_PITCH,3147
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,187
$ROLL_MAX,3764
$ROLL_DEG,40
$C_ROLL_DIVE,1975
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,2961
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-70.546913
$PRESSURE_SLOPE,0.00011650941
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,3
$ALTIM_PING_DEPTH,250
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,86
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,131
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043373196
$SEABIRD_T_H,0.00062598457
$SEABIRD_T_I,2.5066851e-05
$SEABIRD_T_J,2.8555498e-06
$SEABIRD_C_G,-9.7998753
$SEABIRD_C_H,1.1362277
$SEABIRD_C_I,-0.00070417771
$SEABIRD_C_J,0.00014171835
$GPS1,221110,094856,-7732.058,16504.516,14,1.9,14,144.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.74
$_SM_ANGLEo,17.3
$GPS2,221110,094856,-7732.058,16504.516,14,1.9,14,144.7
$SPEED_LIMITS,0.231,0.343
$TGT_NAME,SOUND
$TGT_LATLONG,-7715.000,16530.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,233.5,33265,-18.2,-13.333
$D_GRID,553
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.88,-219.0,0.0,0.0,0,26,0.00,0.00,-9.45,0.000,2,0.000,0.000,3147,3387,3360,0,0,0,0,0,0
$GC,28,-0.88,-219.0,6.5,-0.0,1,56,0.82,4.75,-13.80,0.000,4,0.121,0.063,2876,568,3857,0,0,0,0,0,0
$GC,124,-1.08,-219.0,14.7,-9.2,17,132,0.22,2.35,0.00,0.000,6,0.073,0.060,2779,1979,3859,0,0,0,0,0,0
$GC,265,-1.06,-219.0,35.1,-15.4,42,273,0.00,2.40,0.00,0.000,4,0.000,0.071,2769,3389,3859,0,0,0,0,0,0
$GC,496,-1.00,-219.0,78.4,-18.0,84,505,0.17,2.33,0.00,0.000,6,0.142,0.051,2825,1978,3859,0,0,0,0,0,0
$GC,638,-1.05,-219.0,95.8,-12.1,109,645,0.00,2.38,0.00,0.000,4,0.000,0.070,2815,3393,3859,0,0,0,0,0,0
$GC,774,-1.09,-219.0,115.1,-12.9,124,783,0.00,2.33,0.00,0.000,6,0.000,0.052,2816,1977,3859,0,0,0,0,0,0
$GC,910,-1.13,-219.0,132.8,-13.6,137,914,0.00,2.35,0.00,0.000,4,0.000,0.070,2806,3389,3859,0,0,0,0,0,0
$GC,1037,-1.13,-219.0,150.9,-14.7,148,1041,0.00,2.28,0.00,0.000,6,0.000,0.052,2806,1973,3859,0,0,0,0,0,0
$GC,1171,-1.15,-219.0,169.8,-13.8,160,1176,0.00,2.35,0.00,0.000,4,0.000,0.070,2798,3387,3859,0,0,0,0,0,0
$GC,1298,-1.15,-219.0,188.3,-14.3,171,1302,0.00,2.28,0.00,0.000,6,0.000,0.052,2798,1972,3859,0,0,0,0,0,0
$GC,1434,-1.15,-219.0,207.5,-13.9,183,1438,0.00,2.35,0.00,0.000,4,0.000,0.072,2796,3386,3859,0,0,0,0,0,0
$GC,1583,-1.15,-219.0,229.4,-14.0,196,1587,0.00,2.28,0.00,0.000,6,0.000,0.051,2796,1969,3859,0,0,0,0,0,0
$GC,1718,-1.15,-219.0,247.8,-13.0,208,1722,0.00,2.38,0.00,0.000,4,0.000,0.072,2785,3394,3859,0,0,0,0,0,0
$GC,1851,-1.15,-219.0,268.6,-15.7,219,1858,0.00,2.33,0.00,0.000,6,0.000,0.051,2785,1972,3859,0,0,0,0,0,0
$GC,2049,-1.15,-219.0,297.2,-14.2,238,2053,0.00,2.35,0.00,0.000,4,0.000,0.071,2778,3388,3859,0,0,0,0,0,0
$STATE,2069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2069,begin apogee
$GC,2075,-0.17,0.0,300.6,15.0,239,2269,0.95,0.00,189.15,0.993,6,0.130,0.000,3083,1973,2961,0,0,0,0,0,0
$STATE,2270,end apogee,CONTROL_FINISHED_OK
$STATE,2270,begin climb
$GC,2272,0.88,219.0,310.0,0.0,257,2479,1.00,2.65,197.93,0.925,4,0.054,0.061,3428,3384,2067,0,0,0,0,0,0
$GC,2728,0.55,219.0,217.8,26.5,298,2737,0.40,2.40,0.00,0.000,6,0.174,0.050,3330,1971,2057,0,0,0,0,0,0
$GC,2865,0.44,219.0,194.5,16.3,311,2870,0.12,2.40,0.00,0.000,4,0.173,0.066,3297,3387,2055,0,0,0,0,0,0
$GC,3113,0.35,219.0,154.6,15.5,333,3124,0.12,2.35,0.00,0.000,6,0.155,0.052,3268,1980,2054,0,0,0,0,0,0
$GC,3250,0.42,278.2,139.4,10.9,346,3312,0.00,2.50,52.15,0.863,4,0.000,0.065,3268,3377,1825,0,0,0,0,0,0
$GC,3480,0.42,278.2,110.3,13.8,366,3490,0.00,2.38,0.00,0.000,6,0.000,0.051,3275,1972,1818,0,0,0,0,0,0
$GC,3617,0.48,307.4,93.5,12.1,383,3651,0.00,2.47,25.40,0.835,4,0.000,0.067,3275,3384,1706,0,0,0,0,0,0
$GC,3781,0.49,313.5,71.8,13.1,412,3796,0.00,2.38,6.25,0.712,6,0.000,0.053,3285,1981,1681,0,0,0,0,0,0
$GC,3927,0.56,348.6,54.7,11.9,438,3968,0.12,2.47,32.12,0.817,4,0.090,0.065,3340,3387,1538,0,0,0,0,0,0
$GC,4120,0.49,348.6,20.5,19.3,472,4132,0.12,2.40,0.00,0.000,6,0.143,0.053,3312,1971,1532,0,0,0,0,0,0
$FREEZE,8.81,-1.887,-1.907,2,7,0
$STATE,4198,end climb,FINISH_DEPTH_REACHED
$STATE,4198,begin subsurface finish
$FINISH1,8.8,1.027878,-19
$GC,4203,-0.02,-18.5,8.8,-14.6,485,4262,0.52,2.42,-51.00,0.000,4,0.131,0.078,3144,3393,3041,0,0,0,0,0,0
$FINISH2,4.7
$STATE,4263,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4263,begin surface
$IRIDIUM_FIX,-7639.69,16442.95,221110,090925
$TT8_MAMPS,0.027713
$HUMID,55.98
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,14.10
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.6,18.5
$24V_AH,22.3,12.277
$10V_AH,10.0,7.023
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,4.600,66.600,503.000,0.000,0.000,0.000,0.000,0.000,1.250,0.000,0.000,1139.520,1209.953,495.726,1404.155,63.964,0.000,1114.102,0.000,959.982,0.000,6.050,0.000
$DEVICE_MAMPS,174.420,78.030,992.970,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,343.779,690.856,830.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,276272
$DATA_FILE_SIZE,33663,494
$CAP_FILE_SIZE,65497,0
$CFSIZE,260165632,252968960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221110,094856,-7732.058,16504.516,14,1.9,14,144.7